WO1987002629A1 - Procede et dispositif de commande d'entrainement - Google Patents

Procede et dispositif de commande d'entrainement Download PDF

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Publication number
WO1987002629A1
WO1987002629A1 PCT/JP1986/000549 JP8600549W WO8702629A1 WO 1987002629 A1 WO1987002629 A1 WO 1987002629A1 JP 8600549 W JP8600549 W JP 8600549W WO 8702629 A1 WO8702629 A1 WO 8702629A1
Authority
WO
WIPO (PCT)
Prior art keywords
resistance
acceleration
vehicle speed
control device
target
Prior art date
Application number
PCT/JP1986/000549
Other languages
English (en)
Japanese (ja)
Inventor
Takashi Dogahara
Yoshiaki Danno
Original Assignee
Mitsubishi Jidosha Kogyo Kabushiki Kaisha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Jidosha Kogyo Kabushiki Kaisha filed Critical Mitsubishi Jidosha Kogyo Kabushiki Kaisha
Priority to KR1019860009163A priority Critical patent/KR910000771B1/ko
Publication of WO1987002629A1 publication Critical patent/WO1987002629A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
    • G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/02—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
    • B60K31/04—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means
    • B60K31/042—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator
    • B60K31/045—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator in a memory, e.g. a capacitor
    • B60K31/047—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator in a memory, e.g. a capacitor the memory being digital
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/16—Driving resistance

Definitions

  • the present invention relates to a travel control method and a device having good responsiveness and capable of performing overshooting.
  • a target vehicle speed is set based on the amount of accelerator pedal depression, and the target vehicle speed is set to this target vehicle speed.
  • a system that electronically controls the throttle valve (or the fuel injection amount control governor for diesel vehicles) installed in the intake passage of the engine is provided.
  • Auto Speed Control is known that has been developed and can set the target vehicle speed manually instead of the accelerator pedal depression amount. Teru.
  • feedback control is performed by comparing a target vehicle speed and the like with an actually measured vehicle speed and the like, but feedback control is performed depending on driving conditions. The gain coefficient was never changed.
  • the feedback gain is adjusted in accordance with the shadow of the vehicle, such as a hill, a wind, a change in vehicle weight, and the like. It is an object of the present invention to provide a travel control method and a travel control device capable of solving the problem.
  • the sum of the rolling resistance, acceleration resistance and air resistance is theoretically calculated as the reference running resistance, and the difference between the actual running resistance and the reference running resistance is calculated.
  • the reference running resistance refers to the running resistance in a flat ground, no wind, and a standard vehicle weight
  • the environmental impact amount is defined as a slope, wind, and vehicle weight change. Displays the increase / decrease from the reference running resistance that may be affected by the above.
  • FIG. 1 is an explanatory view showing a system of a vehicle used in a travel control method according to a first embodiment of the present invention
  • FIGS. 2 and 3 are first and second views of the present invention
  • FIG. 2 is an explanatory diagram showing a flowchart of a travel control method according to an embodiment.
  • the traveling control method according to the first embodiment of the present invention is applied to a vehicle having the system shown in FIG. 1 according to a flow chart shown in FIG. It is. That is, when the injector 3 and the throttle valve 4 are interposed in the intake passage 2 of the engine 1, the throttle valve 4 opens and closes the throttle valve 4.
  • the step motor 7 is installed, and its opening ⁇ 9 enters the computer 8.
  • the accessory pedal 5 is provided with an accessory position sensor (hereinafter, abbreviated as APS) 6.
  • APS accessory position sensor
  • the cell depression amount is input to the computer 8.
  • Various signals are input to the computer 8 and the step mode is determined by comprehensively determining the amount of stepping on the accelerator.
  • the throttle valve 4 is driven by the actuator 7 and the opening of the throttle valve 4 is controlled to ⁇ 9.
  • the computer 8 controls the gear by detecting N and D. It is also possible to do so.
  • T. ⁇ W ⁇ ⁇ ⁇ ⁇ ) + ⁇ H Vg ⁇ r
  • W is the vehicle weight
  • ⁇ is the air drag coefficient
  • ⁇ is the front projected area
  • the torque Tc is theoretically calculated according to the following equation.
  • the required torque Tc is the rolling resistance, acceleration resistance, and air resistance as the reference running resistance.
  • the door Torque T c is the actual door Torque ⁇ over ⁇ to such Ino to ⁇ is, Ru ⁇ slope, wind, in the eyes Ru I ignore the vehicle weight change. Therefore, if there is no change in level ground, no wind, and vehicle weight
  • T E T C. Further, if the actual vehicle weight data is obtained from the vehicle weight sensor, the accuracy is further improved. Further, the torque is calculated according to the following equation.
  • T L T E — T c
  • T E — T c is a change amount corresponding to the environmental alum amount obtained by subtracting the reference running resistance from the total running resistance, and is a slope, a wind, and a car from a state of flatland, no wind, and no change in vehicle weight. It shows the increase or decrease in torque that may be affected by a severe change or the like.
  • the feedback gain K and the opening degree ⁇ of the throttle valve 4 are determined according to the following equation.
  • g (T.) is the throttle opening required for steady running at the target vehicle speed.
  • uphill Oi actual vehicle speed V is Ri below or pictmap the target vehicle speed V s Te to, Wakedea Ru but that it the complement U base rather than scan and Russia di door Le valve is opened, uphill or et al.
  • the throttle valve is over-opened, causing overshoot. Therefore, if the data of the running resistance on the slope and the uphill road is obtained, the throttle opening corresponding to the running resistance is given. It is possible to prevent overshoot because it is possible 0
  • the present invention is not limited to this, and can be applied to the case where the target acceleration is set. It can also be combined with the full speed speed ⁇ -rule.
  • the accelerator pedal depression amount X, actual vehicle speed V, and actual throttle valve position 0 are read into the computer 8 as shown in the flowchart of FIG. Then, it is determined whether or not it is in the power transmission state. If it is not in the power transmission state, the throttle valve opening will be 0 (or the number of rotations) in proportion to the accelerator pedal stroke X. Drive. If the if the transmission state ⁇ Ru reads the target vehicle speed V s that corresponds to ⁇ click cell Le depression amount X to the co-down Manipulator Ichita 8, compared to the actual vehicle speed V, the can and Ru I to match over the finish .
  • the calculated TN is calculated not only by taking into account the environmental impact 1 / r, but also by taking into account vehicle speed differences. This is based on the fact that the rate of influence of the environmental impacts T and r on the vehicle speed differs depending on the vehicle speed, and that the output characteristics differ depending on the type of engine. In this case, the feedback gain is determined in consideration of the target vehicle speed. For this reason, the functions P, I, and D require that the speed be adjusted to the target vehicle speed. If you reach a certain point, you will not be able to hunt for it, and it will be decided appropriately in consideration of various conditions.
  • the target throttle valve opening ⁇ corresponding to ⁇ ⁇ and the gear stage is obtained, and the difference between the actual throttle valve opening and the actual throttle valve opening ⁇ is calculated.
  • the motor driving amount is calculated, and the step motor 7 is driven based on this value.
  • the output of the engine 1 is controlled by the throttle valve 4.
  • the present invention is not limited to this. It is also good to use a fuel injection amount control governor.
  • the target vehicle speed is set, but instead, the acceleration, the engine speed, the engine output, the torque, and the like are used. Even good.
  • the traveling control method of the present invention is based on how much the vehicle is affected by a slope, a wind, a change in vehicle weight, and the like. Then, the feedback gain is adjusted, so that the vehicle speed quickly reaches the target vehicle speed, such as additional acceleration, and the response is good. This can prevent overshoot.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)

Abstract

Procédé et dispositif de commande d'entraînement servant à réguler la puissance de sortie d'un moteur (1) en fonction de la valeur des influences d'un changement de pente, du vent et du poids de la voiture sur le comportement de cette dernière. La somme de la résistance au roulis, de la résistance à l'accélération et de la résistance à l'air est déterminée en tant que résistance de référence, et la différence entre cette résistance à l'entraînement de référence et toutes les résistances à l'entraînement qui sont déterminées pratiquement est définie en tant que quantité d'influence de l'environnement. La quantité d'influence de l'environnement représente une augmentation ou une diminution de la résistance à l'entraînement par rapport à une route plate, à l'absence de vent et à un poids standard du véhicule. Une vanne à papillon (4) ou un régulateur de commande de l'injection de carburant est soumis à une commande par boucle de réaction agissant en fonction de la quantité d'influence d'environnement afin d'améliorer la réponse du moteur.
PCT/JP1986/000549 1985-10-31 1986-10-30 Procede et dispositif de commande d'entrainement WO1987002629A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019860009163A KR910000771B1 (ko) 1985-10-31 1986-10-31 주행제어장치

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP24282185 1985-10-31
JP60/242821 1985-10-31

Publications (1)

Publication Number Publication Date
WO1987002629A1 true WO1987002629A1 (fr) 1987-05-07

Family

ID=17094792

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1986/000549 WO1987002629A1 (fr) 1985-10-31 1986-10-30 Procede et dispositif de commande d'entrainement

Country Status (4)

Country Link
US (1) US4911259A (fr)
JP (1) JPH0549492B1 (fr)
KR (1) KR910000771B1 (fr)
WO (1) WO1987002629A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0445935A2 (fr) * 1990-03-07 1991-09-11 Lucas Industries Public Limited Company Procédé et appareil pour le contrôle de tour de roue
CN114834250A (zh) * 2022-03-25 2022-08-02 潍柴动力股份有限公司 一种车辆自调整限速方法、限速系统及车辆

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2750346B2 (ja) * 1988-05-18 1998-05-13 トヨタ自動車株式会社 有段自動変速機の変速制御方法
JP2757193B2 (ja) * 1988-11-18 1998-05-25 トヨタ自動車株式会社 車両の走行目標値の設定装置
US5151861A (en) * 1989-02-22 1992-09-29 Mitsubishi Jidosha Kogyo Kabushiki Kaisha Vehicle engine output control method and vehicle engine
US5189618A (en) * 1989-06-28 1993-02-23 Nippondenso Co., Ltd. Automotive cruise control system for controlling vehicle to run at constant speed
JP2797502B2 (ja) * 1989-08-25 1998-09-17 トヨタ自動車株式会社 自動変速機の直結クラッチ制御装置
US5070959A (en) * 1989-11-20 1991-12-10 General Electric Company Work vehicle having an electric propulsion system with adapted overspeed limit for traction motors
FR2672086B1 (fr) * 1991-01-29 1995-02-03 Siements Automotive Sa Procede et dispositif de commande en boucle fermee de la puissance d'un moteur a combustion interne propulsant un vehicule automobile.
US5521823A (en) * 1991-09-03 1996-05-28 Mazda Motor Corporation Learning control vehicle
US5984232A (en) * 1996-09-25 1999-11-16 Delorio, Jr.; Ralph Flexible shaft driven rotary control valve
EP1190885A3 (fr) * 2000-09-26 2006-08-30 Robert Bosch Gmbh Procéde et système de limitation de vitesse et/ou estimation de la charge utile d'un véhicule
LU90706B1 (en) * 2000-12-18 2002-06-19 Delphi Tech Inc Method for estimating a road load force encountered by a vehicle
US20070191181A1 (en) * 2006-02-13 2007-08-16 Burns Robert D Method and apparatus for controlling vehicle rollback
US8112214B2 (en) * 2007-03-16 2012-02-07 GM Global Technology Oprations LLC Model based vehicle overspeed algorithm
KR101382851B1 (ko) * 2012-11-29 2014-04-17 현대자동차주식회사 Ｅｓｃ 로직 제어 방법 및 이러한 방법을 수행하는 장치
US9850839B2 (en) 2016-01-29 2017-12-26 Ford Global Technologies, Llc System and method for hill ascent speed assistance

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5898636A (ja) * 1981-12-04 1983-06-11 Nippon Denso Co Ltd 車両用定速走行装置

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JPS5825853B2 (ja) * 1975-05-23 1983-05-30 カブシキガイシヤ ニツポンジドウシヤブヒンソウゴウケンキユウシヨ 内燃機関のスロツトル弁制御装置
DE3019562A1 (de) * 1980-05-22 1981-11-26 Daimler-Benz Ag, 7000 Stuttgart Vorrichtung zum steuern einer brennkraftmaschine
JPS5825541A (ja) * 1981-08-07 1983-02-15 Nippon Denso Co Ltd 内燃機関アイドル回転速度制御方法
DE3314800A1 (de) * 1983-03-28 1984-10-04 Wabco Westinghouse Fahrzeugbremsen GmbH, 3000 Hannover Kontrolleinrichtung fuer ein von einer antriebsmaschine ueber ein abgestuftes getriebe angetriebenes fahrzeug
JPS59202503A (ja) * 1983-05-04 1984-11-16 Diesel Kiki Co Ltd 定車速制御装置
JPS60164632A (ja) * 1984-02-07 1985-08-27 Nissan Motor Co Ltd 自動車の電子制御装置

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5898636A (ja) * 1981-12-04 1983-06-11 Nippon Denso Co Ltd 車両用定速走行装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0445935A2 (fr) * 1990-03-07 1991-09-11 Lucas Industries Public Limited Company Procédé et appareil pour le contrôle de tour de roue
EP0445935A3 (en) * 1990-03-07 1992-06-03 Lucas Industries Public Limited Company Method of and apparatus for controlling wheel spin
CN114834250A (zh) * 2022-03-25 2022-08-02 潍柴动力股份有限公司 一种车辆自调整限速方法、限速系统及车辆

Also Published As

Publication number Publication date
US4911259A (en) 1990-03-27
JPH0549492B1 (fr) 1993-07-26
KR910000771B1 (ko) 1991-02-06
KR870004356A (ko) 1987-05-09

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